Hardware User Manual. cod: Veronte-HUM-v2.3.docx pag: 1/18

Transcription

1 Hardware User Manual pag: 1/18

2 pag: 2/18 Table of Contents 1. OVERVIEW AIRCRAFT MOUNTING ENCLOSURE MECHANICAL MOUNTING Vibration Isolation Location Orientation CONNECTOR LAYOUT MATING CONNECTORS ANTENNA INTEGRATION PRESSURE LINES ELECTRICAL POWER VERONTE I/O SIGNALS VISION I/O SIGNALS JOYSTICK EXTERNAL RADIO IP67 VERSION PERFORMANCES ANNEX 1: CONNECTOR COLOUR CODE ANNEX 2: CONNEXION EXAMPLE MULTICOPTER ANNEX 3: CONNEXION EXAMPLE FIXED WING ANNEX 3: CONNEXION EXAMPLE HELICOPTER Figures and Tables FIGURE 1: VERONTE FCS OVERVIEW... 4 FIGURE 2: VERONTE AIR... 5 FIGURE 3: VERONTE DIMENSIONS (MM)... 5 FIGURE 4: VERONTE MOUNTING DIMENSIONS (MM)... 5 FIGURE 5: ENGINE MOUNTS... 6 FIGURE 6: VERONTE & AIRCRAFT AXIS... 6 FIGURE 7: LEFT TO RIGHT: VERONTE GROUND, AIR AND VISION... 7 FIGURE 8: 25-PIN MICRO D CONNECTOR FOR VERONTE AUTOPILOT I/O (4) (VERONTE CONNECTOR VIEW) FIGURE 9: 25-PIN MICRO D FOR VERONTE VISION (7) (VERONTE CONNECTOR VIEW) FIGURE 10: FUTABA TRAINER PORT FIGURE 11: PPM SIGNAL FIGURE 12: EXTERNAL RADIO CONNECTOR TABLE 1: VERONTE CONNECTION PANEL... 7 TABLE 2: MATING CONNECTOR TABLE... 7 TABLE 3: ANTENNA INSTALLATION... 8 TABLE 4: PRESSURE INTAKE CONNECT... 8 TABLE 5: VERONTE POWER AND GROUND PINS... 9 TABLE 6: VERONTE I/O INTERFACE (4) TABLE 7: VISION I/O INTERFACE (7) TABLE 8: JOYSTICK CONNECT TABLE 9: EXTERNAL RADIO CONNECT TABLE 10: VERONTE PERFORMANCES... 14

3 pag: 3/18 Acronyms ADC Analog to Digital Converter AWG American Wire Gauge CAP Capture Module DC Direct Current DGPS Differential GPS DTS Digital Transmission System ECAP Enhanced CAP EGNOS European Geostationary Navigation Overlay Service EPWM Enhanced PWM FCS Flight Control System FHSS Frequency Hopping Spread Spectrum FTS Flight Termination System GIS Geographical Information System GND Ground GNSS Global Navigation Satellite Systems GPS Global Positioning System GS Ground Segment ISM Industrial Scientific and Medical LADGPS Local Area LOS Line of Sight PWM Pulse Width Modulation PWR Power RF Radio Frequency RS232 Recommended Standard 232 RX Receiver SMA SubMiniature Version A Connector TX Transmitter UAS Unmanned Aerial System UAV Unmanned Aerial Vehicle

4 pag: 4/18 1. Overview Veronte is the main element in our Flight Control System for UAS. As it can be seen in the diagram, Veronte hardware is used both in the ground segment (Ground) and onboard the UAV (either Air or Vision). Operator Operator Veronte (Air) Veronte Pipe Veronte Pipe RPAS 1 GIS Ground Station 1... GIS Ground Station m Veronte (Vision) RPAS 2... Ethernet... Veronte (Air or Vision) Safety pilot Veronte (Ground) RPAS n Figure 1: Veronte FCS Overview Ground Segment Veronte contains all the electronics and sensors needed in order to properly execute all the functions needed to control the UAV. A Veronte-based FCS contains the following elements: Flight Segment Veronte (Air): it executes in real time all the guidance, navigation and control algorithms for the carrying airframe, acting on the control surfaces and propulsion system and processing the signals from different sensors: accelerometers, gyroscopes, magnetometer, static pressure, dynamic pressure, GPS (EGNOS/Galileo compatible). Veronte (Vision): alternative to Veronte Air. Same functionalities as Air plus video/vision capabilities. Veronte (Ground): apart from linking to other flying Veronte units and supporting manual and arcade modes with conventional joysticks, it can also control a directional antenna in order to expand the maximum range. It communicates to Veronte Pipe (software for ground segment mission management). Veronte Pipe: software for mission management at the ground segment. It monitors flying vehicles in real time and can also reproduce past missions in an offline manner. It is also the graphical user interface where commands and flight plans are produced.

5 pag: 5/18 2. Aircraft Mounting Enclosure Veronte is provided using an anodizedaluminium enclosure with enhanced EMI shielding and IP protection. The total weight including a 900 MHz / 2.4GHz radio module is 190 g. Figure 2: Veronte Air All Veronte versions share the same enclosure. The only difference is the distribution of the connectors on the panel Mechanical Mounting Figure 3: Veronte dimensions (mm) M4 screws are recommended for mounting. Figure 4: Veronte mounting dimensions (mm)

6 pag: 6/ Vibration Isolation Although Veronte ultimately rejects noise and high-frequency modes of vibration with electronic filters, an adequate vibration isolation design can improve the performances and extend the lifetime of Veronte. Veronte can be mounted in different ways in order to reject the airframe vibration. The simplest could be achieved by just using a double-sided foam tape on the bottom side of Veronte. Other ways may use some external structure which could be rigidly attached to the airframe and softly attached to Veronte (e.g. foam, silent blocks, etc.) The user should take into account that wiring should be loose enough so vibrations may not find another way to enter the aircraft system. In cases where Veronte isolation is not viable, it is possible to use soft engine mounts. It is also recommended when there are other sensible payloads like video cameras or for high vibration engines. Figure 5: Engine Mounts Location The location of Veronte has no restrictions. You only need to configure its relative position with respect to the centre of mass of the aircraft and the GPS antenna. The configuration of the location of Veronte can be easily configured using Veronte Pipe Software Orientation The orientation of Veronte has no restrictions either. You only need to configure Veronte axes with respect to the aircraft body axes by means of a rotation matrix or a set of correspondences between axes. The configuration of the location of Veronte can be easily configured using Veronte Pipe Software. Veronte axes are printed on the box and aircraft coordinates are defined by the standard aeronautical conventions. Figure 6: Veronte & Aircraft Axis

7 pag: 7/ Connector Layout Figure 7: Left to right: Veronte Ground, Air and Vision Index Connector Veronte (Ground) Veronte (Air) Veronte (Vision) 1 RF antenna (SMA Jack Female) 2 GPS antenna (SMA Jack Female) 3 Ethernet (RJ-45) 4 Veronte power and I/O (Micro-D) 5 Static pressure port (Fitting 5/64in) 6 Dynamic pressure port (Fitting 5/64in) 7 Vision power and I/O (Micro-D) 8 Composite Video (SMA Jack Female) 9 WIFI (SMA Jack Female) Table 1: Veronte connection panel For both pressure ports, mating with clamped 2mm internal diameter flexible tubing is recommended Mating Connectors Index Connector Mating Connector 1a/1b 2 RF antenna (SMA Jack Female) GPS antenna (SMA Jack Female) SMA Plug female, low-loss cable is recommended (e.g. RG-174, RG-316) Antenna 900 MHz Whip, 1/2 wave Omni directional 2 dbi SMA Plug female, low loss cable is recommended (e.g. RG-174, RG-316) Active Antenna GPS: Gain min 15dB (to compensate signal loss in RF Cable) max 50dB, maximum noise figure 1.5dB, power supply 3.3V max current 20 ma 3 Ethernet (RJ-45) RJ-45 Plug Shield, Cat 5e Receptacle 25-pin Micro-D connector Molex: (18in, 28AWG) Commercial Version 4a/4b Power and I/O (Micro-D) Norcomp: CCA-025-I18R152 (18in, 28AWG) Commercial Version ITT Cannon: MDM-25SH003L (18in, 26AWG) High performance version Table 2: Mating Connector Table Antenna Integration The system uses three antennas to operate that must be installed on the airframe, one for radio communications and another for GPS positioning. Here you can find some advices for obtaining the best performance and for avoiding antenna interferences.

8 pag: 8/18 Antenna Installation Maximize separation between antennas as much as possible. Keep it far away from alternators or other interference generators. Always isolate antenna ground panel from the aircraft structure. Make that the antenna is securely mounted. Always use high quality RF wires minimising the wire length. Always follow the antenna manufacturer manual. GPS Antenna Antenna top side must point the sky. Install it on a top surface with direct sky view. Never place metallic / carbon parts or wires above the antenna. It is recommended to install it on a small ground plane. Communication / video Antenna It is recommended to use Omni directional antennas. It should be installed vertically on the aircraft. It is recommended to install it on a ground plane following manufacturer indications. Place it in order to maximise the LOS with the control station. Avoid any element that could block antenna communications. Table 3: Antenna Installation Pressure Lines Veronte has two pressure input lines, one for static pressure to determine the absolute pressure and one for pitot in order to determine the dynamic pressure. Absolute pressure connection on the aircraft is mandatory while pitot port can be obviated in some aircrafts, pitot port absence must be configured on Veronte Pipe software. Pressure Intake Pressure intakes must be located in order to prevent clogging. Never install pressure intakes on the propeller flow. Design pressure tubing path in order to avoid tube constriction. Static Pressure It is not recommended to use inside fuselage pressure if it is not properly vented. Pitot Tube Pitot tube must be installed facing the airflow in the direction of the x axis of the aircraft. It is recommended to install it near the aircraft axis in order to avoid false measures during manoeuvres. For low speed aircrafts it is recommended at least 6,3mm tubes for preventing rain obstruction. Table 4: Pressure Intake Connect It is recommended to use Embention dual Pitot tube, including both, static and pitot intakes. Caution!! Pitot pressure ranges are configurable on Veronte Hardware when placing an order, please review that selected sensor fits with aircraft speed.

9 pag: 9/18 3. Electrical Power Veronte can use unregulated DC (6.5V to 36V) for a total power consumption of; 4W including radio module and 10W including both, radio and Vision. Pins used for power and ground are the same for both Ground and Air/Vision configurations. Signal 4a Pin Battery Pole VIN 14 Positive (+) GND1 15 Negative (-) Table 5: Veronte Power and Ground Pins LiPo batteries between 2S and 8S can be used without regulation needs. Remaining battery can be controlled by the internal voltage sensor and by configuring the voltage warnings on the PC application. For higher voltage installations, voltage regulators must be used. For dimensioning voltage regulators take into account that a blocked servo can activate regulator thermal protection and carry to a power cut. It is recommended to use Embention high performance UAV regulators. Caution!! Power Veronte out of the given range can cause irreversible damage to the system. Please read carefully the manual before powering the system. Veronte and servos can be powered by the same or different batteries, in case there is more than one battery on the system it is needed to ensure a single union of different ground. The ground signal should be isolated from other system ground references (e.g. engines). It is recommendable to use independent switches for autopilot and motor / actuators. During the system initialization, PWM signal will be fixed to low level (0V), please make sure that actuators / motor connected support this behaviour before installing a single switch for the whole system.

10 pag: 10/ Veronte I/O Signals Figure 8: 25-pin Micro D connector for Veronte Autopilot I/O (4) (Veronte connector view) Signal Input Output Pin Comments VIN Positive (+) - 14 GND1 Negative (-) to 36V PWM1-5V (12mA) 1 PWM2-5V (12mA) 2 PWM3-5V (12mA) 3 PWM4-5V (12mA) 4 PWM5-5V (12mA) 5 PWM6-5V (12mA) 6 PWM7-5V (12mA) 7 PWM8-5V (12mA) 8 PWM9-5V (12mA) 20 Veronte offers the option to directly drive up to 12 servos/escs with PWM outputs. PWM rate goes from 50Hz up to 400Hz. Note: PWM11 can be used as FTS independent logic output on demand. PWM10-5V (12mA) 21 PWM11 (FTS) - 3.3V (12mA) 16 GND GND for PWM1 11 PWM12 (DIGIN2) 4V to 9V (on demand) 5V (12mA) 23 Note: PWM12 can be used as a digital input on demand. GND GND for PWM12 (GND DIGIN2) RS232TX - ±5V (35mA) 10 RS232RX ±25V - 11 It supports baud rates up to bps. GND GND for RS232 DIGIN1 4V to 9V - 12 CMOS/TTL with interrupt capability. GND GND for DIGIN1 ADCIN1 0V to 36V - 25 User-defined analog signal GND GND for ADCIN1-7V to 12V CANHI -7V to 12V 22 CANbus interface. It supports data rates up to (50mA) 1 Mbps. Recommended cable is a twisted pair -7V to 12V -7V to 12V 19 CANLO with a 120Ω Zo. (50mA) Table 6: Veronte I/O interface (4)

11 pag: 11/ Vision I/O Signals Figure 9: 25-pin Micro D for Veronte Vision (7) (Veronte connector view) Different connections can be used depending on your camera configuration. Signal Input Output Pin Comments VCC 1 POWER GND 2 POWER RS_232_OUT X 3 COMMUNICATION BUS RS_232_IN X 4 COMMUNICATION BUS RS_232_GND 5 GND FOR RS-232 CSI2C_DY0/D7_3.3V X X 6 CSI2C_CLK+_OUTPUT/D7 BT-656 INPUT CSI2C_DX0/D6_3.3V X X 7 CSI2C_CLK-_OUTPUT/D6 BT-656 INPUT CSI2A_DY2/D1_3.3V X 8 CSI2A_DATA1+_INPUT/D1 BT-656 INPUT CSI2A_DX2/D0_3.3V X 9 CSI2A_DATA1-_INPUT/D0 BT-656 INPUT GND 10 POWER CSI2C_DY1/RX232_EXTRA X 11 CSI2C_DATA0+_INPUT/RS-232 INPUT CSI2C_DX1/TXC232_EXTRA X X 12 CSI2C_DATA0-_INPUT/RS-232 OUTPUT GND 13 POWER D5/CSI2A_DX1 X 14 CSI2A_DATA0-_INPUT/D5 BT-656 INPUT D4/CSI2A_DY1 X 15 CSI2A_DATA0+_INPUT/D4 BT-656 INPUT D3/CSI2A_DX0 X X 16 CSI2A_CLK-_OUTPUT/D3 BT-656 INPUT D2/CSI2A_DY0 X X 17 CSI2A_CLK+_OUTPUT/D2 BT-656 INPUT GND 18 POWER PCLK\LVDS_A X 19 CLK BT-656 INPUT/LVDS_A INPUT CAM_RESET/LVDS_B X X 20 CAM RESET OUTPUT/LVDS_B INPUT CAM_SCCB X 21 I2C SIGNAL CAM_VBUS/SHUTTER (USB) X 22 USB POWER/SHUTTER OUTPUT CAM_ID/SCL (USB) X X 23 USB ID/I2C CLK CAM_DP/SDA (USB) X X 24 USB DATA_P/I2C DATA CAM_DM/SCCB (USB) X X 25 USB DATA_M/I2C SIGNAL Table 7: Vision I/O interface (7) Caution!! Veronte Vision has an independent power input. It is required when the Veronte power source is under 10 V.

12 pag: 12/ Joystick To connect the joystick to the system, use the DIGIN1 port on Veronte Ground connected to the radio trainer port. Veronte is compatible with standard PPM signals, Futaba radios between 8 and 12 channels are recommended. Figure 10: Futaba Trainer Port Signal Veronte Radio Comments PPM DIGIN1 PPM OUT GND GND5 Ground Table 8: Joystick Connect Figure 11: PPM Signal As default, channel 8 is reserved for manual / auto switch. High level is used for automatic flight and low level for manual control. This channel can be configured on Veronte Pipe. Caution!! PPM signal must be into the PPM ranges given with voltage above 4V. Some joysticks may need an adaptation board, please ask our team to check compatibility.

13 pag: 13/ External Radio Veronte is also offered with a RS-232 connector to be used with an external radio. Figure 12: External Radio Connector The mating radio connector for this configuration is: Phoenix Contact Signal Input Output Pin Comments RS232 Veronte TX - ±5V (35mA) 1 RS232 Veronte RX ±25V - 3 RS232 Veronte GND Table 9: External Radio Connect IP67 Version IP67 autopilot is supplied with no 25 pin micro D connector in order to ensure highest environment protection. It is supplied with individual wire leads as follow. PIN Colour PIN Colour 1 Black 2 Broun 3 Red 4 Orange 5 Yellow 6 Green 7 Blue 8 Violet 9 Grey 10 White 11 Pink 12 Light green 14 Broun / White 15 Red / White 16 Orange / White 17 Green / White 18 Blue / White 19 Violet / White 20 Red / Black 21 Orange / Black 22 Yellow / Black 23 Green / Black 24 Grey / Black0 25 Pink / Black 13 Black / White

14 pag: 14/18 4. Performances Variable Weight (900MHz /2.4GHz radio included) Power Input Value 190g 6.5V to 36V (4W) (10W for Vision) Minimum Temperature -40ºC Maximum Temperature +55ºC 1 Minimum Pressure 15kPa Maximum Pressure 115kPa Maximum Dynamic Pressure 10kPa 2 Protection Rating IP54 3 Acceleration Limits (3 axes) ±6g 4 Angular Velocity Limits (3 axes) ±300deg/s 5 Magnetic Field Limits (3 axes) GPS Datalink ±6Gauss 12 channels, DGPS EGNOS, LADGPS MHz FHSS DTS / Range 96km / 115kbps 2.4 to GHz ISM Band / Range 32km / 115kbps X-868 MHz ISM / Range 40km / 4 Kbps X-902 to 928 MHz / Range 45km / 10 kbps Table 10: Veronte performances 1 No convection, ask for increased limits (up to 71ºC) 2 Ask for increased limits (up to 50kPa) 3 Ask for increased limits (up to IP67) 4 Limit for sustained maneuvers. Transitional higher accelerations are possible (e.g. catapult launch). Ask for increased limits. 5 Limit for sustained maneuvers. Transitional higher angular velocities are possible. Ask for increased limits.

15 pag: 15/18 5. Annex 1: Connector Colour Code Micro-D connector Molex

16 cod: Veronte-HUM-v2.3.docx pag: 16/18 6. Annex 2: Connexion example Multicopter Pin 14 V+ Battery Pin 15 V- ESC 1 Pin1 CH1 ESC 2 Pin 2 CH2 ESC 3 Pin 3 CH3 ESC 4 Pin 4 CH4 Static pressure GPS antenna RF antenna

17 cod: Veronte-HUM-v2.3.docx pag: 17/18 7. Annex 3: Connexion example Fixed wing Battery Pin 14 V+ Pin 15 V- Pin1 CH1 Aileron right Aileron left Pin 5 CH5 Pin 2 CH2 Elevator Pin 4 CH4 Rudder Gimbal Tilt Pin 6 CH6 Pin 7 CH7 Gimbal Pan Pin 3 CH3 Pin 13 GND Static pressure GPS antenna RF antenna ESC Motor DC/DC

18 cod: Veronte-HUM-v2.3.docx pag: 18/18 8. Annex 3: Connexion example Helicopter Battery Pin 14 V+ Pin 15 V- Pin1 CH1 Plate NW Plate S Pin 5 CH5 Pin 2 CH2 Plate NE Pin 4 CH4 Tail RPM Pin 12 ECAP Pin 5 CH5 Pin 9 GND Static pressure Dynamic pressure GPS antenna RF antenna ESC Motor DC/DC